US5959424A - Drive device for moving a robot or vehicle on flat, inclined or curved surfaces, particularly of a glass construction and robot with drive device - Google Patents

Drive device for moving a robot or vehicle on flat, inclined or curved surfaces, particularly of a glass construction and robot with drive device Download PDF

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Publication number
US5959424A
US5959424A US09/058,637 US5863798A US5959424A US 5959424 A US5959424 A US 5959424A US 5863798 A US5863798 A US 5863798A US 5959424 A US5959424 A US 5959424A
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United States
Prior art keywords
robot
rotation
drum
support frame
rope
Prior art date
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Expired - Fee Related
Application number
US09/058,637
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English (en)
Inventor
Norbert Elkmann
Ulrich Schmucker
Holger Scharfe
Christian Schoop
Ingo Kubbe
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Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
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Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
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Priority claimed from DE1997116741 external-priority patent/DE19716741C2/de
Priority claimed from DE1997116740 external-priority patent/DE19716740C1/de
Application filed by Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV filed Critical Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Assigned to FRAUNHOFER-GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V. reassignment FRAUNHOFER-GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ELKMANN, NORBERT, KUBBE, INGO, SCHARFE, HOLGER, SCHMUCKER, ULRICH, SCHOOP, CHRISTIAN
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices

Definitions

  • the invention relates to a drive device for moving a robot or vehicle on flat, inclined or curved surfaces, particularly of a glass construction, and to a robot with a drive device.
  • a main problem resides in the selection of suitable kinetics for the drive and direction control of the robot or vehicle. If the construction of the glass area contains members which can serve as guide members for the robot and which permit an application of force, e.g. rail systems, these members are used for the transporting movement. If such constructive members are not present or are unsuitable, the application of force must be effected directly into the glass.
  • the drive member for example in the form of a wheel
  • the drive member must apply a force to the glass which on the one hand is greater than the rolling friction resistance between glass and wheel plus the adhesive and rolling friction resistance of the respective drive train, such as motor, bearing and the like.
  • the force applied must be smaller than the adhesive friction resistance between wheel and glass, as otherwise slip would occur and the wheel would "skid".
  • the object underlying the invention is to provide a drive device for moving a robot or vehicle on the surfaces particularly of a glass construction, which permit forward movement without disturbance without excessive applications of load at specific points, which could involve risk of breakage of the glass, and which enables correction of the movement in the transverse direction and another object is to provide a robot with a drive device.
  • the device according to the invention has a drive wheel with a high coefficient of friction in the running direction of the wheel in the direction of travel, and non-driven wheels with a very low coefficient of friction, all the wheels being attached to a support frame, on the one hand an unhindered forward movement of the support frame forming a component part of a robot or of a vehicle without skid or slip and on the other hand simple lateral pushing or rotation is enabled.
  • the lateral deviation and the rotation of the support frame is determined and appropriate corrections are undertaken, a control device controlling the correction devices in dependence on the magnitude of the lateral deviation and of the rotation.
  • FIGS. 1 and 2 show perspective views of a cleaning robot, which includes the drive device according to the invention.
  • the figures show a robot 1, which in the embodiment is in the form of a cleaning robot, and which travels on a glass roof or a glass envelope of the hall, and thus cleans the glass area in accordance with its width.
  • the embodiment shown is suitable for cleaning a grid lattice construction, which forms a grid of predetermined dimensions.
  • the glass panes in this case are secured in glass securing means beneath the grid lattice construction.
  • the cleaning robot has a support frame 2, upon which the necessary components are attached. Attached to the support frame 2 at all four corners are free-running wheels 4, which preferably consist of a Teflon material or have a Teflon coating. Another material may also be selected; what is important is that it is a material with an extremely low coefficient of friction, so that the robot 1 may be easily pushed and rotated. Further provided on the rear portion of the frame 2 and centrally is a drive wheel 3, for example driven by an electric motor, which moves the support frame 2 particularly on horizontal glass surfaces. This drive wheel 3 may be raised or lowered from the glass surface via a pneumatic cylinder 5. The drive wheel 3 consists of a material which has a high coefficient of friction.
  • a roller brush 6 which extends over the entire width of the support frame 2.
  • Located laterally of the support frame are longitudinally-extended arms 7, upon which circular brushes 8 are attached via pivotal head devices 17.
  • the arms 7 are designed to extend and retract and are driven via toothed belts by an electric motor 18.
  • a cable drum 16 with a drive motor and a hose drum 15 with a drive motor are Further attached at or on the support frame 2 .
  • the cable drum 16 accommodates one or a plurality of electrical conductors, which serve at least to supply voltage to the electrical portions mounted on the support frame 2, as a cable, whilst the hose drum 15 accommodates a water hose.
  • the cable and water hose are unwound as the robot travels.
  • the end of the hose provided on the hose drum 15 is provided with a water distribution system not shown, which sprays water through nozzles into the area of the roller brushes 6 and the circular brushes 8.
  • rope drums 9 Located at the rear end of the support frame 2 are two rope drums 9, which as far as possible are off-set outwardly. Wound onto the rope drums 9 are ropes (not shown), which normally serve as safety ropes preventing the robot from falling and which, during travel of the robot, are unwound from the rope drums 9. Where the glass areas are curved or inclined, they also serve to pull up the robot 1.
  • respective drum drives 10 having electric motors, with corresponding gear transmissions.
  • the ropes are respectively accommodated across the width of the rope drums and are wound or unwound with a predetermined rope tension. For this purpose there are associated with the respective rope drums measuring devices 11 for measuring the rope tension.
  • the drum drives and the measuring devices 11 designed as rope tension sensors are incorporated for each rope drum 9 into one regulating circuit, via which the predetermined rope tension can be maintained.
  • both the drum drives 10 and the rope tension sensors 11 are connected to a control and regulating device (not shown), which can be provided on the support frame 2, but which can also be located separately from the robot 1; in this case the control and regulating signals are supplied via electrical control conductors.
  • the control and regulating device is in the form of a micro-computer or of a PC, and also serves to control the drive of the drive wheel 3 and of the motors 18 for extension and retraction of the linear arms 7 and of the pivotal heads 17.
  • the cables, hoses and ropes wound and unwound from the cable drum 16, the hose drum 15 and the rope drums 9 must be deposited or taken up taut and without loops on the glass surface, and in a synchronous manner, and for this purpose regulating circuits are provided, via which the drives of the cable drum 16, the hose drum 15 and the drum drive 10 for the rope drum 9 are regulated by the control and regulating device.
  • the tension which respectively acts on the cable of the cable drum 16 and the hose of the hose drum 15 is detected via the performance of the electrical drive motors of the drums 16, 15.
  • the control and regulating device regulates the respective drive systems in such a way that ropes, cable and hose are deposited taut, so that no friction results on the glass surfaces.
  • the robot 1 also has two measuring wheels 12, which are attached in the vicinity of the rope drums 9, ideally directly above the inlet point of the rope onto the drum (this however cannot be realised, as the inlet point varies over the width of the rope drum 9).
  • the measuring wheels 12 are likewise connected to the control device (not shown) and are formed with the rope drum drives 10 and the electric drive of the drive wheel 3 to form regulating circuits. Via the measuring wheels 12, for example by counting the revolutions of the measuring wheels 12, the distance travelled is determined.
  • sensors such as proximity sensors can be provided on the support frame, and which detect the construction members, so that further information can be obtained regarding the distances travelled, as the construction elements are located at predetermined grids or dimensions. In dependence on the signals of these sensors, the measuring wheels 12 may be re-adjusted.
  • the support frame 2 is provided with lateral slide rails 13, which are extendible and retractable via respective pneumatic piston-cylinder devices 14, and which serve for support on external construction parts.
  • the compressed air for the pneumatic components is obtained via a compressor not shown but attached to the support frame 2.
  • a system inspection carriage which is not shown, which is located at the upper apex of a hall, and is provided with electrical drive systems and distance measuring apparatus, via which it is moved in the direction of the axis of the hall.
  • the ropes of the rope drums 11 of the robot 1 are connected to the system inspection carriage as well as the hose of the hose drum.
  • the voltage supply which via the cable of the cable drum 9 supplies the robot 1 with the necessary voltage, and a control device in the form of a micro-computer or PC may likewise be provided.
  • a pump which is connected to the hose of the hose drum 10 of the robot 1 and to a long hose, being connected to the water supply system, providing the necessary pressure for the water.
  • the system inspection carriage has at least one automatic take-up device, by means of which the associated robot 1 can be deposited on the glass surface or lifted off therefrom.
  • the robot 1 is deposited by the system inspection carriage at the apex point of the glass roof, and the drive wheel is lowered. It operates against the ropes unwinding from the rope drums 9, and the predetermined rope tension is adjusted via the regulating circuits by means of which the measurement values of the rope tension sensors are processed. This is effected via corresponding signals supplied by the control device to the drum drives 10.
  • the slide rails 13 are extended, until they respectively abut on the construction members in the grid of the grid lattice construction, so that the robot 1 is aligned inside the grid, as the non-driven wheels, due to the low coefficient of friction, present no resistance to uniform displacement.
  • the drive wheel 3 is raised.
  • the piston-cylinder devices are de-pressurised, and the start of the procedure described above is carried out with the drive wheel 3 lowered.
  • the lateral displacement is ascertained via the slide rails 13.
  • the robot deflects laterally from the desired direction of travel, it collides with the existing construction members, and as the piston cylinder devices 14 have been de-pressurised, the respective piston is slowly retracted.
  • a proximity sensor which emits a signal to the control device when the piston approaches. This signal initiates the necessary correction of the lateral deviation.
  • control device When the respective corrections are to be carried out, the control device emits a signal to the pneumatic drive for the drive wheel 3, so that the latter is raised from the glass surface.
  • the lateral displacement is carried out by renewed extension of the lateral slide rails 13.
  • Correction of the rotation is also carried out with the drive wheel raised, when the robot 1 is located on an inclined glass surface.
  • the control device inactivates the regulation of the cable drums 9, whose associated measuring wheel 12 has the smaller quantity or the smaller measuring result.
  • the control device emits a high required value for the cable tension, so that the drive 10 for this cable drum 9 is activated until, by means of rotation of the entire robot 1 about the inlet point of the stationary rope due to the "winding up" of the other rope, both measurement values of the measuring wheels 12 coincide. In this way the rotation is corrected, and the drive wheel can again be lowered.
  • the correction may also be carried out by regulating the rope tensions via both regulating circuits.
  • the drive wheel 3 remains lowered, so that the support frame 2 rotates about the drive wheel as a centre of rotation.
  • stabilisation of the movement of the robot 1 can be carried out by the fact that the forward, non-driven wheels 4 are rotatably mounted vertically to the wheel axis through a small angle, e.g. in the embodiment 15°, the vertical axis, seen in the direction of travel, being located in front of the wheel axle. Deviation of the wheels from the direction of travel caused by external disturbances leads to a restoring moment, which pulls the wheels 4 into the original direction.
  • Reversal of the robot 1 is carried out with the drive wheel 3 raised, only by using the regulating circuits of the rope drums 9 and of the measuring wheels 12.
  • the previously forward wheels 4 are stopped in the central position by a pneumatic cylinder (not shown), and thus for this direction of travel have a stabilising effect.
  • correction of the rotation is carried out via the cable tensions. If space is available it is imaginable that the forward wheels 4 can have a steering system, by means of which an alteration in position can be undertaken.
  • the robot cleans across this width with the roller brush 6.
  • the lateral arms 7 are retracted and extended.
  • the circular brushes 8 are pivoted via the pivotal heads 17, so that cleaning can also be carried out in the concealed area behind the glass suspension means.
  • the lateral arms are retracted and extended continuously in dependence on the travelling speed selected for the robot, in order to clean the entire lateral glass area.
  • the drive for the rope drums 9 and/or of the drive wheel 3 may also be controlled or regulated in such a way that the robot 1 stops upon extension of the arms 7, moves forward and stops again for retraction.
  • the brushes 6, 8 are supplied with water passed via the hose of the hose drum 15.
  • the roller brushes 6 have bristles which become longer in the direction of the centre of the roller brush, as the glass panes bend slightly due to the weight of the robot 1, and in this way uniform application of pressure of the bristles on the glass can be ensured.
  • the device explained for moving a robot can also be used in other robots, such as an inspection robot or generally with a processing or working robot.
  • the latter for example can carry out works such as painting, sand-blasting, grinding, etc., on facades.
  • the cable drum and hose drum are then provided with appropriate cables and hoses, and any optional fluid or paints for painting or the like can flow through the hoses.

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US09/058,637 1997-04-11 1998-04-10 Drive device for moving a robot or vehicle on flat, inclined or curved surfaces, particularly of a glass construction and robot with drive device Expired - Fee Related US5959424A (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE1997116741 DE19716741C2 (de) 1997-04-11 1997-04-11 Vorrichtung zum Reinigen der Flächen einer Glaskonstruktion
DE19716740 1997-04-11
DE1997116740 DE19716740C1 (de) 1997-04-11 1997-04-11 Vorrichtung zum Bewegen eines Roboters oder Fahrzeugs auf der Fläche einer Glaskonstruktion
DE19716741 1997-04-11

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US5959424A true US5959424A (en) 1999-09-28

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US (1) US5959424A (de)
EP (1) EP0870461A1 (de)

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US6805504B1 (en) 2001-02-07 2004-10-19 Kandelshein Ltd. Method and apparatus for flat surface treatment
US20060048800A1 (en) * 2004-09-09 2006-03-09 Rast Rodger H Automated building exterior cleaning apparatus
US20060143845A1 (en) * 2002-09-24 2006-07-06 Tohru Miyake Window wiping system
US20070273032A1 (en) * 1998-12-21 2007-11-29 Mou-Shiung Lin Top layers of metal for high performance IC's
US20080029819A1 (en) * 2006-08-04 2008-02-07 Seiko Epson Corporation Semiconductor device
CN101695437B (zh) * 2009-10-01 2011-09-21 博宇(无锡)科技有限公司 单卷筒多绳缠绕机构
US20110271469A1 (en) * 2005-02-18 2011-11-10 Andrew Ziegler Autonomous surface cleaning robot for wet and dry cleaning
US20130061696A1 (en) * 2011-09-12 2013-03-14 Honeywell International Inc. System for the automated inspection of structures at height
EP2625995A1 (de) 2012-02-13 2013-08-14 E.M.M.P. S.r.l. Vorrichtung zum Reinigen von Flächen und dergleichen
CN104330479A (zh) * 2014-11-27 2015-02-04 长沙理工大学 一种用于大型曲面构件的超声相控阵自动扫查装置
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WO2015056957A1 (ko) * 2013-10-18 2015-04-23 김경식 유리창 청소 로봇
US9282867B2 (en) 2012-12-28 2016-03-15 Irobot Corporation Autonomous coverage robot
US20160138938A1 (en) * 2013-03-08 2016-05-19 Suzhou Ecovacs Commercial Robot Co., Ltd. Plumb-bob calibration apparatus and glass-wiping robot having the plumb-bob calibration apparatus
US9483055B2 (en) 2012-12-28 2016-11-01 Irobot Corporation Autonomous coverage robot
US20170188762A1 (en) * 2014-07-15 2017-07-06 Jerry W. WILKES Apparatus adapted for the removal of foreign matter
US9811089B2 (en) 2013-12-19 2017-11-07 Aktiebolaget Electrolux Robotic cleaning device with perimeter recording function
US9939529B2 (en) 2012-08-27 2018-04-10 Aktiebolaget Electrolux Robot positioning system
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